Problem 1

The closed loop transfer function can be written as follows:

CL 2 2
SP
8
y(s) 8 8 9 (s 1)(2s 1)
G (s)
8
y (s) 2s 3s 9 2 9s 1 3s 1
1
(s 1)(2s 1)
+ +
= = = =
+ + + +
+
+ +
(S1.1)
Thus, comparing (S1.1) to the standard form of 2
nd
order systems, one obtains:
2
2 9 2 3 0.471 = = = (S1.2)
2 1 2 2 4 0.354 = = = (S1.3)
k 8 9 0.889 = = (S1.4)
Since is smaller than 1, the system is underdamped.

a) From textbook, we know that:
max
2
y y( ) max dev final value
OS exp 0.305
final value y( )
1


= = = =

(S1.5)
The output of the system for a step change of magnitude 0.1 in the set point is:
2
0.1 8 9
y(s)
s 2 9s 1 3s 1
=
+ +
(S1.6)
Applying the final value theorem, yields:
2
s 0 s 0
0.8 9 0.8
y( ) limsy(s) lim 0.0889
2 9s 1 3s 1 9

= = = =
+ +
(S1.7)
Hence, the maximum value of the response is:
max
y y( )(1 OS) 0.116 = + = (S1.8)

k 1.6 =
5
(s 1)(2s 1) + +
SP
y (s) y(s)
+

b) For a servo problem, the offset is given by:

offset new set point y( ) 0.1 0.0899 0.0111 = = = (S1.9)

c) From the textbook, the period of the oscillation is:
2
2 where 1 = = (S1.10)
Therefore, the value of the period of the oscillation is:
3.17min = (S1.11)


Problem 2

The resistance of a liquid to a hydrostatic pressure can
be defined as the rate of changing of the liquid level due
to the change of the output low rate. Thus:
dh
R
dq
= (S2.1)
Assuming linear resistances, R
1
and R
2
can be directly evaluated by plotting h (ft) versus
q (ft
3
/min) and estimating the slope of the straight line. Hence, one obtains:
1 2
R R 0.5 = = (S2.2)
Since the cross sections are equal to 2, the time constant of the two tanks are both equal
to
1 1 1
A R 1 (min) = = and
2 2 2
A R 1 (min) = = , while the static gains of two tanks are
equal to
2
1 1
k R 0.5 (min ft ) = = and
2
2 2 1
k R R 1 (min ft ) = = . Thus, the transfer
functions of the two tanks are the following:
1 2
0.5 1
G (s) G (s)
s 1 s 1
= =
+ +
(S2.3)
Employing a proportional controller, the corresponding transfer function is:
s c
G (s) k = (S2.4)
Plotting the change in pressure to the valve versus the change in flow provides the
transfer function for the final control element:
f
dP 0.1
G (s) 0.1
dq 1
= = = (S2.5)
With no lag in the measuring device dynamics, the corresponding transfer function is:

q
(ft
3
/min)
h (ft)
R
m
G (s) 1 = (S2.6)
Therefore, the block diagram is the following:

a)



b) The close loop transfer function is:
c c
2
c
CL
2
c
SP
2
c c
0.05 k 0.05 k
1 0.05 k y(s) (s 1)
G (s)
0.05 k 1 2
y (s)
s s 1 1
1 0.05 k 1 0.05 k (s 1)
+ +
= = =
+ + +
+ + +
(S2.7)
Comparing the closed loop transfer function to the standard form of a 2
nd
order system
transfer function one obtains:
c
1 1 0.05 k = + (S2.8)
c
1 1 0.05 k = + (S2.9)
c c
k 0.05 k (1 0.05 k ) = + (S2.10)
For a critically damped 2
nd
order system, =1 and therefore:
c(CD)
k 0 = (S2.11)
Therefore, the critical damping cannot occur.


c) For interacting tanks, the transfer function between the output of the second tank and
the input of the first tank is given by:
2
2 2
1 2 1 2 1 2
R y(s) 0.5
G(s)
q(s) s ( A R )s 1 s 3s 1
= = =
+ + + + + +
(S2.12)
Thus, the close loop transfer function becomes:
controller valve tank 1 tank 2
Measuring
device
SP
y (s) y(s)
c
k
0.1
0.5
s 1 +
1
s 1 +
1
q(s)
c
c
2
c
CL
2
c
SP
2
c c
0.05 k
0.05 k
1 0.05 k y(s)
s 3s 1
G (s)
0.05 k 1 3
y (s)
s s 1 1
1 0.05 k 1 0.05 k s 3s 1
+
+ +
= = =
+ + +
+ + + +
(S2.13)
Comparing the closed loop transfer function to the standard form of a 2
nd
order system
transfer function one obtains:
c
1 1 0.05 k = + (S2.14)
c
3
2 1 0.05 k
=
+
(S2.15)
c c
k 0.05 k (1 0.05 k ) = + (S2.16)
For a critically damped 2
nd
order system, =1 and therefore:
c(CD)
k 25 psi/ft = (S2.17)
Hence, for interacting capacities the critical damping does occur.


d) Assuming k
c
=1.5k
c(CD)
, one obtains:

c c(CD)
k 1.5k 37.5 psi/ft = = (S2.18)
Thus, the natural period of the oscillations, damping factor and gain becomes:
0.590 (min) = (S2.19)
0.885 = (S2.20)
k 0.652 (ft) = (S2.21)
For a step change of 1/12 ft in the se point, y
sp
(s) is equal to 1/(s12). Therefore, one
obtains:
SP 2 2
0.652 0.054
y(s) y (s)
0.348s 1.043s 1 (0.348s 1.043s 1)s
= =
+ + + +
(S2.22)
Since is smaller than 1, from textbook we have:
1
2
t 2 1
2
1
1.5t o
1 1 t
y(t) 0.054 1 e sin 1 tg
1
0.054 0.116e sin(0.8t 28 )

= + =






= +
(S2.23)
Problem 3:

a) The block diagram is the following:

b) Controller (pure PID)
Transfer function is: )
1
1 ( ) ( s
s
K s G
D
I
c c

+ + =
Transducer
Transfer Function is:
4
3
16
12
4 20
3 15
4 ) (
3 ) (
) (
~
) (
~
) ( = =

= =
s p
s p
s p
s p
s G
v v
T

Control Valve
Linearizing q
A
around an operative point:
) ( 20 ) 20 ln( 03 . 0
0
12 / ) 3 (
0
0
v v
p
A A
p p q q
v
+ =


Choosing q
A0
=0.17 and p
V0
=3, gives:
A A0 v v0
q q 0.0025ln(20)(p p ) = +
Transfer Function is:
A A
v
v v
q (s) q (s) 0.17
G (s) 0.0025ln(20)
p (s) p (s) 3

= = =

Also, considering delay:
s
v
G (s) 0.0025ln(20)e

=
Process
c q q c q c q
dt
dc
V
F A F F A A
) ( + + = . Note
F F A
q q q + .
Hence
F F A A F
c q c q c q
dt
dc
V + = + .
At steady state:
F s As A F Fs
q c q c q c = +
Defining
s
c c c =
~
,
As A A
q q q =
~
,
F F Fs
c c c = yields:
F A A F F
dc
V q c c q q c
dt
+ = +

or
p p A d F
dc
c k q k c
dt
+ = +

where
P F
V/ q = ,
P A F
K c / q = and
d
K 1 = .

Taking Laplace transform gives:

d P
A F P A D F
P P
k k
c(s) q (s) c (s) G (s)q (s) G (s)c (s)
s 1 s 1
= + = +
+ +


Controller Transducer Valve Process
Composition
Transmitter Data
mA
mA mA mA psgi m
3
/min Kg/m
3

Line
Kg/m
3

Kg/m
3

Delay
mA
Therefore, process can be expanded as
illustrated in figure.


Trasmission Line

Transfer function is:
L
t s
L
G (s) e

= ,
where
2
L F
t 20 (0.5) / 4q =



Composition Transmitter Data
Transfer Function is:
200
16
200
4 20
) (
4 ) (
) (
~
) (
~
) ( =

= =
s c
s c
s c
s c
s G
m m
CTA

G
P
(s)
G
D
(s)
Kg/m
3
Kg/m
3
m
3
/min